CN109976853A - A kind of software architecture of industrial robot modularization man-machine interactive system - Google Patents
A kind of software architecture of industrial robot modularization man-machine interactive system Download PDFInfo
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- CN109976853A CN109976853A CN201910207830.4A CN201910207830A CN109976853A CN 109976853 A CN109976853 A CN 109976853A CN 201910207830 A CN201910207830 A CN 201910207830A CN 109976853 A CN109976853 A CN 109976853A
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- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/44—Arrangements for executing specific programs
- G06F9/451—Execution arrangements for user interfaces
Abstract
The present invention relates to a kind of industrial robot modularization man-machine interactive system framework, user interface layer is located at the top of man-machine interactive system framework, the function of robot is shown in visual form.User interface layer receives the instruction of user, backward Business Logic Transfer Parameters；Business Logic provides actual functional capability for upper layer and supports, receives the order of user interface layer, and the parameter that parsing transmitting comes after judging its legitimacy, organizes and coordinates specific operation；Business Logic has been handled, and then passes data to the component of data transfer layer.The transformation task of the main complete paired data of data transfer layer.Finally, entity object layer receives the data that data transfer layer transmits, and after parsing, finally realizes that actual motion planning and robot control, data storage, running paper etc. operate.The high cohesion lower coupling for realizing structure, to the high efficiency and flexibility important in inhibiting for improving the exploitation of industrial robot man-machine interactive system.
Description
Technical field
The invention belongs to the interactive software technical fields of industrial robot, specifically, being related to a kind of industrial machine
The software architecture of people's modularization man-machine interactive system.
Background technique
Software changes in whole life cycle not to be occurred all the time, is on the one hand since new technology generates more
It newly, is on the other hand the update of user demand variation and generation.Framework is the core an of system and the indigo plant of software realization
Figure.Good man-machine interactive system framework is the basis that system has the factors such as high scalability, configurability.In framework
Under global thought guidance, any system maintenance, expansion and upgrading, will not because modify with destroyed due to expansion it is whole it is complete with it is consistent
Property.The man-machine interactive system control model of industrial robot controls a machine from initially simple personal-machine interactive system
People arrives " one-to-many "；Connection type is connected from integrated cable, arrives USB connection, or even be wirelessly connected；Function is simple from realizing
Robot motion, program editing, to complicated welding, stacking, vision etc..The man-machine interactive system application demand of robot is just not
Disconnected to increase, just to man-machine interactive system software development speed, flexibility and stability, more stringent requirements are proposed for this.
Component technology refers in software development process System Partition into different components, and carries out to component single
Solely exploitation, each section utilize " playing with building blocks " thought production software after having developed.The advantage of component technology just can solve man-machine
Low, the compatible and poor flexibility problem of the development efficiency that interactive system currently encounters.If component technology is introduced into man-machine friendship
In mutual system development, only need to modify to members when needing to update or extending function, the exploitation of homogeneous system
Also the mode of " starting from scratch " is no longer taken, but based on existing work, accumulative warp in the exploitation of making full use of over
It tests and knowledge.
Patent of invention CN107688432A discloses a kind of electronic measuring instrument man-machine interactive system based on touch technology
Framework realizes the mutually indepedent of touch data acquisition, touch data explanation and touch data application by hierarchical design, passes through
Touch-control drives the hardware independence of layer realization interactive system.But the mapping pass that these researchs are absorbed in touch data, touch grammer
System's research, does not relate to the internal component design and service logic of the man-machine interactive system framework of industrial robot field
The functions such as processing, communication.
For existing component framework when demand changes, the reusability of software is extremely low, and the various pieces of system require from the beginning to open
Begin exploitation, there are a large amount of duplication of labour, open very poor in systems development process, updates that there are many obstructions.Not only such as
This, the product of each producer is incompatible, and user interface is not flexible, and the demand of modern industrial production hardly results in satisfaction.
Summary of the invention
Technical problems to be solved
It has been fruitful in order to make full use of, development efficiency has been improved, to fast implement the human-computer interaction of industrial robot
The customization of system, the present invention proposes a kind of software architecture of industrial robot modularization man-machine interactive system, by industrial robot
Man-machine interactive system be divided into many levels, while marking off the component of functional independence, and individually developed to component, respectively
" playing with building blocks " thought is utilized to produce software after Part Development is complete.
Technical solution
A kind of software architecture of industrial robot modularization man-machine interactive system, it is characterised in that including user interface layer,
Business Logic, data transfer layer, entity object layer；Wherein
User interface layer: this layer is located at the top layer of man-machine interactive system framework, is the interaction channel of user and robot,
The function of robot is shown in visual form；User interface layer receives the instruction of user, backward Business Logic
Transfer Parameters issue service request, and the information for obtaining operation layer return is shown on interface；It can be divided into according to function more
A component；
Business Logic: this layer is located under user interface layer, provides actual functional capability for it and supports, receives user interface layer
Order, parsing transmitting come parameter, after judging its legitimacy, organize and coordinate specific file operation, program operation, parameter
Read-write, finally returns that the desired information of user interface layer, while passing data to the component of data transfer layer；It can according to function
To be divided into multiple components；
Data transfer layer: by interface give upper-layer service logical layer provide call service, and with lower course of solid object layer into
The transmission of row data；Multiple components can be divided into according to function；
Entity object layer: receiving the data that data transfer layer transmits and parsing, finally realizes actual robot motion's control
System, data storage, running paper.
The user interface layer includes self-test component, connection component, modification equipment operating mode component, removes alarm group
Part, software upgrading component, login component, the component that Adds User, display nest, administration authority component, Modify password component,
Program display component, searches component, input file information assembly, display file components, enabled group at intelligence instruction addition component
Part, crawl component, positioning component, display alarm logging component, display runing time component, setting network parameter component, setting
Soft limit assembly, display software version component, port status component, the newest alarm assemblies of display, is shown setting load parameter component
Show current operating parameter component, display changing coordinates component, program operating component, welding parameter component, calibration user coordinate system
Component, calibration robot brachium component, calibration encoder zero-crossing component, vision parameter component, is set calibration tool coordinate module
Set multiplying power component, setting stepping-in amount component, setting coordinate module, modification program operating mode component, stacking parameter component.
The Business Logic includes self-test Service Component, connection Service Component, modification equipment operating mode service groups
Part, removing alert service component, software upgrading Service Component, registering service component, user information updates Service Component, health is examined
Disconnected Service Component, program editing Service Component, file service component, manual movement Service Component, program run Service Component, are
System information service component, port traffic component, display state service component, calibration encoder zero-crossing Service Component, calibration user
Coordinate system Service Component, calibration tool coordinate system Service Component, calibration robot brachium Service Component, stacking parameter service groups
Part, operating parameter Service Component, welding parameter Service Component, vision parameter Service Component.
The data transfer layer include UDP communication component, file FTP transmission assembly, output port signal sending assembly,
Input port signal acquisition component, database manipulation component, daily record data operating assembly, user data operating assembly, port number
According to operating assembly, coordinate system data manipulation component, local file operating assembly.
The entity object layer includes robot controller, input-output equipment, database, file system.
Beneficial effect
The invention proposes a kind of industrial robot modularization man-machine interactive system frameworks, introduce during architecture design
The man-machine interactive system of industrial robot is divided user interface layer, Business Logic, data transfer layer and reality by component technology
Body object layer.Component appropriate is picked out in the corresponding Component Gallery of each layer, by being completed the connection of each component, thus real
The function of existing whole system.The dependence for being converted into each component to framework that interdepends between code is realized knot by the framework of modularization
The high cohesion lower coupling of structure has important meaning to the high efficiency and flexibility that improve the exploitation of industrial robot man-machine interactive system
Justice.
Detailed description of the invention
Fig. 1 is the logical architecture figure of industrial robot modularization man-machine interactive system.
Fig. 2 is the component drawings of industrial robot modularization man-machine interactive system.
Fig. 3 is the operation architecture diagram of industrial robot modularization man-machine interactive system
Specific embodiment
Now in conjunction with embodiment, attached drawing, the invention will be further described:
A kind of software architecture of industrial robot modularization man-machine interactive system, by system layer, including user circle
Surface layer, Business Logic, data transfer layer and entity object layer.Wherein the function of each layer is as follows:
User interface layer shows in visual form the function of robot in the top layer of man-machine interactive system framework
Out.User interface layer receives the instruction of user, and converts thereof into corresponding parameter command and pass to Business Logic.
Further, Business Logic provides actual functional capability for upper layer and supports, receives the order of user interface layer, and parsing passes
The parameter come is passed, after judging its legitimacy, organizes and coordinates the functions such as specific file operation, program operation, parameter reading and writing
Operation, finally returns that the desired information of user interface layer.Business Logic has been handled, and then passes data to data transfer layer
Component.
Further, the transformation task of the main complete paired data of data transfer layer.It is mainly negative in man-machine interactive system
Duty is transmitted with the data transmission of entity object layer controller, file, the biography with the I/O data of entity object layer input-output equipment
Defeated, with entity object layer data library data transmission, and the transmission etc. with entity object layer local file.
Finally, entity object layer receives the data that data transfer layer transmits, and after parsing, finally realizes actual robot fortune
The operations such as dynamic control, data storage, running paper.
Refering to fig. 1, a kind of logical architecture of industrial robot modularization man-machine interactive system is divided into four levels, first layer
It is user interface layer, the second layer is Business Logic, third time data transfer layer, the 4th layer entity object layer.For user circle
Surface layer and Business Logic are classified as 13 functional modules, are manual movement module, program respectively according to functional characteristics
Run module, system information block, status information module, kinematic parameter setup module, system function module, extension function mould
Block, document management module, Program Edit Module, Gernral Check-up module, port module, line module, demarcating module.Data transmission
Layer is broadly divided into UDP transmission module, FTP transmission module, I/O data transmission module, database operating modules, file operation module
Deng, by interface give upper-layer service logical layer provide call service.Entity object layer is mainly the mature system provided by third party
System includes robot controller, input-output equipment, database etc..Meanwhile referring to Fig.2, each module is further divided into group
Part has loose coupling between each component, can quickly be matched according to the functional requirement of man-machine interface by building component
It sets, the exploitation at finishing man-machine interaction interface.
User interface layer is located at the top of man-machine interactive system framework, is the interaction channel of user and robot, by machine
The function of people is shown in visual form.User interface layer receives the instruction of user, backward Business Logic transmitting ginseng
Number issues service request, and the information for obtaining operation layer return is shown on interface.Referring to Fig.2, the component of user interface layer by
Connection component, modification equipment operating mode component, removing alarm assemblies, software upgrading component, login component, Add User group
Part, crawl component, enabled component, positioning component, setting multiplying power component etc..
Business Logic is located under user interface layer, provides actual functional capability for it and supports, receives the life of user interface layer
It enables, the parameter that parsing transmitting comes, after judging its legitimacy, organizes and coordinates specific file operation, program operation, parameter reading and writing
Etc. functions operation.Business Logic has been handled, and then passes data to the component of data transfer layer.Referring to Fig.2, business is patrolled
The component for collecting layer mainly has self-test Service Component, connection Service Component, modification equipment operating mode Service Component, removes alarm industry
Component, software upgrading Service Component, registering service component, the user information of being engaged in update Service Component, program editing Service Component, text
Part Service Component, Gernral Check-up Service Component, system information Service Component, port traffic component, is shown manual movement Service Component
Show state service component, program operation Service Component, calibration user coordinate system Service Component, calibration tool coordinate system service groups
Part, calibration robot brachium Service Component, calibration encoder zero-crossing Service Component, operating parameter Service Component, welding parameter industry
Business component, stacking parameter Service Component；
Data transfer layer receive by Business Logic transmitting Lai data, the then transformation task of complete paired data.In people
It is mainly responsible for transmitting with the transmission of the data of entity object layer controller, file in machine interactive system, be inputted with entity object layer
The transmission of the I/O data of output equipment, the transmission with entity object layer data library data, and with entity object layer local file
Transmission etc..Referring to Fig.2, the component of data transfer layer is divided into UDP communication component, file FTP transmission assembly, output port signal
Sending assembly, input port signal acquisition component, database manipulation component, daily record data operating assembly, user data operational group
Part, port data operating assembly, coordinate system data manipulation component, local file operating assembly.
Entity object layer mainly includes actual operation object in man-machine interactive system, referring to Fig.2, the component of this layer includes
Robot controller, input-output equipment, database, file system.Wherein, output equipment includes LED, buzzer, and input is set
It is standby to include button, enabled switch, key switch.
Refering to Fig. 3, a kind of operation framework of industrial robot modularization man-machine interactive system is broadly divided into three threads: using
Family interface thread (main thread), worker thread (branch thread one), hardware scanning thread (branch thread two).User-interface thread is used for
Handle the operation of user, the tasks such as interface parameter update；Worker thread mainly realizes that specific background task is realized, including self-test
Task dispatching, whether the connection tested with database normal, normal by UDP initialization controller parameter, and result is returned
It is shown back to user interface.Hardware scanning thread completes the identification mission of various hardware input signals, and push button signalling etc. is passed
To associated component.
Claims (5)
1. a kind of software architecture of industrial robot modularization man-machine interactive system, it is characterised in that including user interface layer, industry
Business logical layer, data transfer layer, entity object layer；Wherein
User interface layer: this layer is located at the top layer of man-machine interactive system framework, is the interaction channel of user and robot, by machine
The function of device people is shown in visual form；User interface layer receives the instruction of user, backward Business Logic transmitting
Parameter issues service request, and the information for obtaining operation layer return is shown on interface；Multiple groups can be divided into according to function
Part；
Business Logic: this layer is located under user interface layer, provides actual functional capability for it and supports, receives the life of user interface layer
It enables, the parameter that parsing transmitting comes, after judging its legitimacy, organizes and coordinates specific file operation, program is run, parameter is read
It writes, finally returns that the desired information of user interface layer, while passing data to the component of data transfer layer；It can be with according to function
It is divided into multiple components；
Data transfer layer: it is provided by interface to upper-layer service logical layer and calls service, and counted with lower course of solid object layer
According to transmission；Multiple components can be divided into according to function；
Entity object layer: the data that data transfer layer transmits and parsing are received, finally realizes actual motion planning and robot control, number
According to storage, running paper.
2. a kind of software architecture of industrial robot modularization man-machine interactive system according to claim 1, feature exist
Include self-test component, connection component, modification equipment operating mode component, remove alarm assemblies, soft in the user interface layer
Part more New Parent, login component, the component that Adds User, display nest, administration authority component, Modify password component, program
Display component, searches component, input file information assembly, display file components, enabled component, point at intelligence instruction addition component
Dynamic component, positioning component, display alarm logging component, display runing time component, setting network parameter component, the soft limit of setting
Component, setting load parameter component, display software version component, port status component, the newest alarm assemblies of display, display are current
Operating parameter component, display changing coordinates component, program operating component, welding parameter component, calibration user coordinates module, mark
Determine tool coordinates module, calibration robot brachium component, calibration encoder zero-crossing component, vision parameter component, setting multiplying power
Component, setting stepping-in amount component, setting coordinate module, modification program operating mode component, stacking parameter component.
3. a kind of software architecture of industrial robot modularization man-machine interactive system according to claim 1, feature exist
Include self-test Service Component, connection Service Component, modification equipment operating mode Service Component, remove in the Business Logic
Alert service component, software upgrading Service Component, registering service component, user information update Service Component, Gernral Check-up business
Component, program editing Service Component, file service component, manual movement Service Component, program run Service Component, system information
Service Component, port traffic component, display state service component, calibration encoder zero-crossing Service Component, calibration user coordinate system
Service Component, calibration tool coordinate system Service Component, calibration robot brachium Service Component, stacking parameter Service Component, operation
Parameter Service Component, welding parameter Service Component, vision parameter Service Component.
4. a kind of software architecture of industrial robot modularization man-machine interactive system according to claim 1, feature exist
In the data transfer layer include UDP communication component, file FTP transmission assembly, output port signal sending assembly, input terminal
Message securing component, database manipulation component, daily record data operating assembly, user data operating assembly, port data operation
Component, coordinate system data manipulation component, local file operating assembly.
5. a kind of software architecture of industrial robot modularization man-machine interactive system according to claim 1, feature exist
In the entity object layer include robot controller, input-output equipment, database, file system.
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Application publication date: 20190705 |